7 papers
CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads
Viktor Lorentz, Khaled Wahba, Sayantan Auddy +2
Collaborative transportation of cable-suspended payloads by teams of UAVs has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in com…
db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF
Akmaral Moldagalieva, Keisuke Okumura, Amanda Prorok +1
State-of-the-art multi-robot kinodynamic motion planners struggle to handle more than a few robots due to high computational burden, which limits their scalability and results in s…
Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments
Bojan DerajiÄ, Mohamed-Khalil Bouzidi, Sebastian Bernhard +1
This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representati…
pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
Khaled Wahba, Wolfgang Hönig
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-…
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire +4
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vi…
Accelerating db-A* for Kinodynamic Motion Planning Using Diffusion
Julius Franke, Akmaral Moldagalieva, Pia Hanfeld +1
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each probl…